Woody English

JAUS Experimentation: 

JAUS Experimentation Evaluation and Validation of the Joint Architecture for Unmanned Systems Woody English Titan Corporation, Huntsville

Origins: 

Origins JAUS was originally formed to provide a mechanism to allow solutions from different vendors to interoperate The evolution of JAUS has evolved to one addressing on-board functionality The operator interface is supported indirectly through the message set

Operator Control Units and Payloads Committee (OPC): 

Operator Control Units and Payloads Committee (OPC) The OPC was formed within JAUS to Validate and provide Recommendation to the Working Group for Core Interoperability Goals Core Interoperability is the level at which any Compliant OCU and/or Payload can control or be controlled using the JAUS Standards

OPC Background: 

OPC Background Committee formed pursuant to direction from OSD on January 31, 2002 Members include all volunteers from within the JAUS WG and represent the varied interests therein JAUS is a standards based approach to interoperability OCUs have historically been matched 1:1 with an unmanned system by the manufacturer OCU and Payload interoperability always a driving issue within JAUS and its supporters

Standards Based Approach: 

Standards Based Approach Standards Approach A standards approach provides both the interface specification and guidance for technical development of the system. Hardware is not specified. Solutions Approach A solutions approach requires a product and performance specification be developed. These specifications would dictate physical properties of the system(s). — as opposed to —

Standards Approach Trade-Offs: 

Standards Approach Trade-Offs A standard provides a flexible approach that can be used within a design. It ensures interoperability and eliminates system (mobility platform) dependencies from control unit. A specification requires consensus. Existing solutions must be modified. Many viable approaches will be eliminated. + -

Solutions Approach Trade-Offs: 

Solutions Approach Trade-Offs Commissioning a solution through a program manager (SPO) ensures all control systems are identical. Support and maintenance are inherent in the solution. The solution must define interoperability. Single vendor and proprietary issues must be addressed. Little competition results in few pricing options. + -

Recommendation to JRP: 

Recommendation to JRP Define Interoperability using a Standards Approach Address the Interoperability of OCUs using the JAUS Reference Architecture Define the domain for Payloads and provide interoperability via JAUS and/or existing standards Demonstrate JAUS viability through cooperative integration effort between heterogeneous unmanned systems and operator control systems Schedule Proof of Principle Demonstration(s) Define Transport Layer Make Middleware (MRS) Software Available

OPC Mission: 

OPC Mission Goal To perform an initial assessment and create a plan of attack (POA) to address the commonality of OCUs and Payloads Approach Through analysis, trade studies, and architectural development, generate a recommendation for the interoperability requirements for Common Operator Control Units and Payloads to the Joint Robotics Program Managers

Three Phase Approach: 

Three Phase Approach Interoperability Verify Existing Message Set Through Experimentation Recommend Necessary Changes to Document Set Scalability Expand Message Set to Address Payloads (Core) Conduct Experimentation to Validate Payload Interoperability Applicability Incorporate Mission Planning into Message Set Conduct Experimentation to Validate Mission Planning Addresses questions and concerns regarding JAUS viability, stimulates interest, and provides a jumpstart for adoption throughout community.

OPC Experiment #1: 

OPC Experiment #1 The OPC Experiment #1 was conducted at SPAWAR in San Diego December 1-5, 2003 Participants included: The Experiment was conducted IAW a JAUS OPC generated Experiment Control Document SPAWAR AFRL/MLQF Autonomous Solutions, Inc. iRobot Corporation ARTS--AAC/WMO Remotec/Apple Aid NSWC Panama City AMRDEC/TU

Unmanned SystemsC4I Interoperability: 

Unmanned Systems C4I Interoperability Matilda URBOT Andros Packbot EEL TAGS Common Controller

Experiment Control Document: 

Experiment Control Document Network Architecture Specification Video Messaging Dynamic Registration Timing and Safety Detailed Message Script

Network Architecture Specs: 

Network Architecture Specs 802.3 & 802.11b IP Addresses UDP Ports JAUS TCP/UDP 3794 Video 12345 JAUS UDP Header JAUS ID Assignments

Video Specs: 

Video Specs MJPEG Color Encoded Frame Rate Not to Exceed 15 FPS 120 x 160 Resolution Port 12345 in a Uni-cast Mode.

Dynamic Registration: 

Dynamic Registration 4 New Messages (experimental) Identification Authority Required for Control Human Readable Name/Summary Configuration: Detailed account of all components within the system. Based on Receipt of Heartbeat Pulse

Timing and Safety: 

Timing and Safety Heartbeat 1Hz Safety Timeout 5 Sec (Heartbeat) Wrench 4 Hz Min-15 Hz Max Watchdog 500ms (on Wrench) Speed 10 MPH

Message Rules: 

Message Rules HB Pulse Subsystem A Subsystem B Time Query Configuration Report Configuration Request Control Confirm Control Resume Command Wrench

OPC Experiment #1 Results: 

OPC Experiment #1 Results Known Deficiencies with the Architecture prior to Experimentation included Dynamic Registration Messaging Rules (Primarily with Configuration) Video Format Specifics for Digital Video Discovered Deficiencies include the need for clarification with ACK/NAK, Service Connections, Message Byte Ordering, String Termination, Data Size Field, Control States, and Data Scaling Complete results from Experiment #1 are available via the OPC Chairman, Mr. Woody English (woody.english@us.army.mil)

OPC Experiment #1 = Success: 

OPC Experiment #1 = Success

OPC Experiment #2: 

OPC Experiment #2 Prerequisite: Update Reference Architecture to resolve Experiment #1 issues (in progress) Planning: Meeting 4-5 March 04 Titan, Crystal City (Completed) Target Experiment: Summer 2004, Danville VA. Scope: Payload Interoperability

Payloads (Proposed): 

Payloads (Proposed) FLIR NAV (heading/speed) Side Scanner EM-61 RSTA Lethal/Non-Lethal Weapons Differential GPS Turret RFID Reader Radar IDS Cable Spooler Targeting Payload Chem/Bio Sensors Manipulator Disruptor Bi-directional audio Still Imagery

Requirements for Payload Interoperability: 

Requirements for Payload Interoperability Dynamic Registration and Configuration Discovery Assignment Publication Payload Interface Publication Command and Control Presentation Safety—System States and Modes Experiment #1 addressed only Configuration

Discovery, Assignment and Publication: 

Discovery, Assignment and Publication Discovery and Assignment Similar to DHCP Need to Address Underlying Protocol(s) Publication Partially addressed in Experiment #1 Add Msgs for Nodes, Component Instances Payload Configuration

Payload Interface Publication: 

OCU Payload Interface Publication Vehicle Interface Specification Operator Interface Specification Command and Control Presentation

Approach: 

Approach Command and Control Data Element Identifier: Textual Description Type: Continuous & Discrete Only Type Code: Refines Data Type (Size, Resolution, etc.) Units: SI Base Units (Common Sensor Interface) Range: Min, Median, and Max for non-discrete data Elements Presentation Data Element Identifier: Textual Description Type: Continuous, Discrete, Text, Imagery, Vector, other Type Code: Refines Data Type (Size, Resolution, etc.) Units: SI Base Units (Common Sensor Interface) X Dimension: Y Dimension: Z Dimension: Range: Min, Median, and Max for non-discrete data Elements For Multi-dimensional data, these fields provide the number of elements within each dimension and can be omitted using a presence vector.

Payload Publication and Use: 

Payload Publication and Use Payload HB Pulse Payload Controller Payload Host Time Query Capabilities Publication Command & Control Presentation Command & Control Presentation

Composite Messages: 

Composite Messages One Header, Multiple Messages Time Position Header Composite Message Definition JAUS Defined Message Bodies Sensor output synchronization, and correlation of position to activity are common examples.

System States and Modes: 

System States and Modes JAUS Defines Component States and Transitions Between Them Component States are identical to the proposed Subsystem States Subsystem States Shutdown Failure Emergency Standby Ready Subsystem Modes Maintenance Motor Pool Local Control Remote Control Tele-Operation Reflexive-Control (Tele-Op) Waypoint Programmed Path Segment Programmed Goal Based Driving Mission Level Control System Level Definitions and Management are Required States are Critical to Fault Tolerance and Safety System Modes are not Formalized

Experimentation provides : 

Experimentation provides A Mechanism to Reveal Deficiencies and Inconsistencies in the Current JAUS Reference Architecture Specification Early Exploration of Integration Issues Compliance Level Definition

Experiment #N: 

Experiment #N Spring-Summer 05 Mission Interoperability Target Acquisition/Fire Control UXO/Mine Detection Communications Relay & Placement Convoying NUSE2 Site